Unit-3 Stability Analysis in Time Domain 3.

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Unit
Stability

3 SIA GROUP

Part-A
Short Questions with Solutions
Q1. Define stable system.
Ans:
A system which remains in a constant state unless affected by an external action and which returns to a constant state
when the external action is removed can be considered to be stable.
A system is stable if its impulse response approaches zero as time approaches infinity.
(or)
A system is stable if every bounded input produce a bounded output.

(i) (ii)
Figure: Stable Systems
Q2. Write short notes on marginal stability.
Ans:
An LTI system, is marginally stable if the natural response neither decreases nor increases, but oscillates as time approaches
to infinity. For such systems the input will be bounded and the output will be oscillating with constant frequency and amplitude.
Marginal stability is also known as critical stability.

Figure: Marginally Stable System

Q3. Write short notes on conditional stability and absolute stability.
Ans:
Conditional Stability
If system output is stable for a limited range of variations of its parameters, then the system is called conditionally stable
system and the state in known as conditional stability.
Absolute Stability
The stability of a system for all variations of its parameters is called as absolute stability.

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3.2 control systems [JNTU-Anantapur]
Q4. What is the necessary and sufficient condition This difficulty is overcomed by forming an auxiliary
for stability in Routh’s stability criterion? equation and differentiating it.
Dec.-15, (R13), Q1(e) Unstable condition of the system is indicated by the
OR rise of this difficulty. It also indicates that the roots are placed
List the necessary conditions for the stability symmetrically with respect to the origin of the s-plane.
of system. The moment we come across either of the difficulties
Ans: (i.e., difficulity-1 or difficulty-2), it is predicted that system
1. All the co-efficients in characteristic equation should is unstable. Even then, furthur procedure is calculated just in
have the same sign. order to determine the location of poles.
2. None of the co-efficients should be zero i.e., powers of
s must be exist in descending order from n to zero. Q7. List the limitations of Routh Hurwitz criterion.
Ans: Model Paper-III, Q1(e)
Q5. What is difficulty-1 in Routh method? What does
1. Routh Hurwitz criterion is applicable to only linear and
it indicate?
time-invariant systems.
Ans: Model Paper-I, Q1(e) 2. Routh Hurwitz criterion is valid only for characteristic
Routh’s method enables us to determine the allocation equation which is having real coefficients.
of closed loop poles with respect to the left half and right half 3. Routh Hurwitz criterion does not give exact locations
of s-plane without solving the characteristic equation. of the closed loop poles of the system.
Difficulty-1 in Routh’s method 4. Routh Hurwitz criterion does not provide any method
to stabilize an unstable system.
While constructing routh array, if a row with ‘zero’ as
first element and at least one of the other elements in that row Q8. State the advantages of RH stability criterion
are non-zero, is encountered, then all the elements of the next over Hurwitz method.
row will be infinite. Ans:
To overcome this problem, the first element of the row Advantages of Routh-Hurwitz Criterion
is consider as ‘ε’, a small positive number, (ε → 0) instead of 1. Unlike Hurwitz method, there is no need to solve the
zero, and complete the construction of Routh array in the normal determinants of higher order, hence it is more simple
way (As in Case I). and saves time.
After formation of Routh array, put ε → 0, and determine 2. There is no need for solving the characteristic equation
the values of elements of the first column of Routh array which to judge the system stability.
are functions of ‘ε’ 3. The number of roots of the characteristic equation
located in R.H.S of the s-plane for unstable systems
Then, If there is no sign change in the elements of first which cannot be given by Hurwitz method is given by
column of Routh array, then the system is stable otherwise the this method.
system is unstable.
4. With this method, the critical value of system gain can
Another way of overcoming this difficulty is by replacing be known from which the frequency of sustained oscil-
in the characteristic equation ‘s’ by 1/z and now forming Routh lations can also be known.
array in z. Thus, positive real roots of z is obtain. This roots can 5. The points of intersection of root locus with imaginary
be consider for s-roots with positive real parts. axis and range of ‘K’ values for stability of the system
can be determined with this method.
Q6. What is difficulty-2 in Routh method? What does
it indicate? 6. With Routh-Hurwitz method it is very simple to judge
the relative stability of the system.
Ans: Model Paper-II, Q1(f)
Q9. Define the following,
Difficulty-2
(i) Characteristic equation
In case of difficulty-2, “a row with all zeros is (ii) Asymptote
encountered”. Due to this, all the elements of next row will (iii) Centroid
become zero, thus resulting in the breakdown of Routh’s Ans: Model Paper-I, Q1(f)
method. (i) Characteristic Equation
For example, The denominator of a closed loop transfer function is
known as characteristic equation.
Consider the following characteristic equation,
(ii) Asymptote
s5 + 2s3 + s = 0 A straight line that meets the root locus at infinity is
∴ Routh’s array is known as asymptote.
(iii) Centroid
s5 1 2 1 The meeting point of asymptotes on real axis is known
4 Difficulty-2
s 0 0 0 as centroid.

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Unit-3 Stability Analysis in Time Domain 3.3
Q10. What is break-away and break-in point? How
to determine them?
Ans:
Break-away Point
It is a point at which the root locus enters the complex
plane breaking the real axis plane.
Break-in Point
It is a point at which the root locus enters the real axis
from the complex plane. Figure (3)
Q12. List the steps in designing root locus.
Steps to determine the break-away (or) break-in points,
are as follows. Ans: Model Paper-II, Q1(e)

1. Locate poles and zeros.

1. From the characteristic equation, form the equation for
K. 2. Find root locus on real axis.

2. Differentiate the equation of K with respect to s and 3. Find angle of asymptotes (or) centroid.
4. Determine breakaway (or) break in points.
equate it to zero,
5. Determine angle of departure (or) angle of arrival.
3. The roots obtained from the differential equation are 6. Find crossing point on imaginary axis.
either the break-away (or) the break-in points provided 7. Sketch the root locus.
for this value of root, the gain K should be positive and
Q13. Define the term root locus and state the rule for
real.
finding out the root locus on the real axis.
Q11. What are the necessary conditions to have all Ans:
the roots of the characteristic equation in the Root Locus
left half of s-plane?
The path taken by the roots of the characteristic equa-
Ans: tion when open loop gain K is varied from 0 to ∞ is called root
locus.
The necessary and sufficient conditions to have all the
roots of the characteristic equation in the left half of s-plane is Consider an open loop transfer function,
given by Hurwitz criterion. The conditions are as follows: K
G(s) H(s) =
s( s + a)
1. All the coefficients of the characteristic equation should
be positive for the system to be stable. The system is said The characteristic equation is given by,
to be unstable if the coefficients are zero or negative. 1 + G(s) H(s) = 0
2. The roots obtained should have negative real parts, then K
⇒ 1+ =0
they are said to lie on left hand of s-plane as shown in s( s + a)
figures (1) and figure (2). ⇒ s(s + a) + K = 0
⇒ s2 + as + K = 0 ... (1)
From equation (1), it is clear that the roots of the
characteristic equation depends on the value of K (open loop
gain). When K is varied from 0 to ∞, we obtain different values
of the roots.
The locus obtained when all these varying roots of the
characteristic equation are joined is known as root locus.
Root Locus on Real Axis
To find out the root locus on the real axis, consider a
point on the real axis.
Figure (1) Figure (2)
If, to the right hand side of this point, the sum of number
3. If the characteristic equation have roots on imaginary of open loop poles and zeros on the real axis is an odd number,
axis, then the system is said to be marginally stable and then that point lies on the root locus. If the sum total is an even
the roots lie in the left hand side of the s-plane as shown number, then that point is not a part of the root locus (does not
in figure (3). lie on the root locus).

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3.4 control systems [JNTU-Anantapur]
Q14. What is meant by damping pole in root locus
diagram?
Ans: Dec.-15, (R13), Q1(f)

Note: In the given Question “dominant” is misprinted as

“damping”.
Dominant pole
A complex conjugate pole, that reflects the transient
response of system is termed as dominant pole. These poles
are located very closely to origin in higher order systems and
widely separated from other poles. By inspecting the first column of Routh array, it is clear
that there are no sign changes. Hence, all the roots are positive
Q15. Examine the characteristic equation s4 + 2s3 + and lie on left half of the s-plane.
s2 + 4s + 2 = 0 for stability.
Q17. Using Routh-Hurwitz criterion investigate the
Ans: Model Paper-III, Q1(f) location of roots of the given equation,
Given that, s6 + 2s5 + 4s4 + 4s3 + 9s2 + s + 6 =0.
s4 + 2s3 + s2 + 4s + 2 = 0 Ans:
The above equation is of 4th order and the highest power Given that,
of ‘s’ is an even number. Hence, the first row of routh array is s6 + 2s5 + 4s4 + 4s3 + 9s2 + s + 6 = 0
formed using even power co-efficients and the second row of
routh array is formed using off power co-efficients. By inspection, it is clear that, the characteristic equation
is of 6th order. Hence, the first row of routh array is constructed
using the coefficients of even powers of s and the second row
is constructed using the coefficients of odd powers of s.
s6 : 1 4 9 6
s5 : 2 4 1
17
s4 : 2 6
2 ×1 − 4 ×1 2 × 2 − 0 ×1 2
s2 = = – 1 ; =2 −9
2 2 s3 : –5
2
−1× 4 − 2 × 2 −1× 0 − 0 × 2
s1 = = 8 ; =0 113
−1 −1 s2 : 6
18
8 × 2 − 0 × (−1) 8 × 0 − 0 × (−1)
s0 = = 2 ; =0 −79
8 8 s1 :
113
∴ There is a sign change in the element of first column.
Hence the system is unstable. s0 : 6
Q16. Analyze for the nature of the roots of F(s) = s3 + By inspecting the first column of routh array, it is clear
6s2 + 11s + 6 = 0 using Routh-Hurwitz criterion. that four are sign changes. Hence, the four roots of the char-
acteristic there equation lies on right half of s-plane and the
Ans: remaining two roots lie on left half of s-plane.
Given that,
s3 + 6s2 + 11s + 6 = 0
The given equation is of 3rd order and the highest power
of ‘s’ is an odd number. Hence, the first row of Routh array is
formed using odd power coefficients and the second row of
Routh array is formed using even power coefficients.
s3 : 1 11
s2 : 6 6
Dividing s2 row with ‘6’ we get,

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Unit-3 Stability Analysis in Time Domain 3.5

Part-b
eSSAY Questions with Solutions
3.1 The concept of stability – Routh’s stability criterion – stability and
conditional stability – Limitations of routh’s stability
Q18. Explain the Routh-Hurwitz criterion to determine the stability of the system.
May-13, (R9), Q4(a)

OR
State and explain Routh-Hurwitz stability criterion.
April/May-09, Set-2, Q4(a)

OR
Explain the RH stability criterion.
(Aug./Sep.-08, Set-4, Q4(a) | Aug./Sep.-07, Set-1, Q4(a))

OR
Explain the Hurwitz criterion to determine the stability of dynamical system.
(Aug./Sep.-06, Set-3, Q4(b) | Nov./Dec.-05, Set-4, Q4(b) |

Ans: April/May-05, Set-2, Q4(b) | April/May-05, Set-3, Q4(b))

Routh-Hurwitz Criterion
Routh-Hurwitz criterion, enables us to determine the location of closed loop poles with respect to the left half and right
half of s-plane, without solving the characteristic equation of the closed loop system whose roots are the locations of closed loop
poles.
For a linear system closed loop transfer function is given as,

P(s) and Q(s) are polynomials of ‘s’.
Where,
The characteristic equation of the system is Q(s) = 0
Q(s) = a0sn + a1s n-1 + . . . . . + an-1 s + an = 0
Thus, the roots of the above characteristic equation gives the locations of closed loop poles of the system, through which
the stability of the system can be studied.
Routh-Hurwitz stability criterion can be stated as follows. “The necessary and sufficient condition for the stability
is that all elements of first column of the routh array should be positive”. If this condition is not satisfied, then the system is
unstable and the number of sign changes in the elements of the first column of the routh array is equal to the number of roots
lying in the right half of s-plane.
Necessary Conditions for the Stability of System
1. All the coefficients in characteristic equation should have the same sign.
2. None of the coefficients should be zero i.e., powers of ‘s’ must be exist in descending order from ‘n’ to zero.
If the above two conditions are satisfied, then the systems may or may not be stable. (i.e.,) These two conditions are
necessary but not sufficient conditions. Further, to determine the stability of a system following analysis is required.
Procedure to Construct Routh Array
1. Write the polynomial of the characteristic equation,
a0sn + a1sn-1 + a2sn-2 + . . . . . + an–1 = 0
2. If all coefficients are positive, then coefficients of the polynomial are arranged in two rows as shown below.
sn a0 a2 a4 a6 . . . . . .
sn–1 a1 a3 a5 a7 . . . . . . .

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3.6 control systems [JNTU-Anantapur]
If ‘n’ is even, then, s row is formed by the coefficients
n
If all the elements in first column of Routh array are of
of even power terms and s n-1 row is formed by the coefficients same sign (i.e.,) if there is no sign change in the elements of
of odd power terms. first column of Routh array, the system is stable. Otherwise the
system is unstable. The number of sign changes in the elements
If ‘n’ is odd, then sn row is formed by the coefficients
of first column of Routh array indicates the number of closed
of odd power terms and sn-1 row is formed by the coefficients
loop poles that lie on the right half of s-plane. The remaining
of even power terms.
poles will lie on the left half of s-plane.
However, the other rows of Routh array up to s0 row can
Case II
be calculated as follows.
First element of a row in routh array is zero with atleast
Now, the sn–2 row can be calculated by using the values one non-zero element in that row.
of the above two rows
For answer refer Unit-III, Q5.
sn-2 : b1 b2 b3 . . . . .
Case III
a1a2 − a3 a0 a a − a5 a 0 All the elements of a row in routh array are zero’s
Where, b1 = , b2 = 1 4
a1 a1
A row with all zeros indicates the existence of an even
a1a6 − a7 a0 polynomial which is a factor of given characteristic equation
b3 = and so on of the system. Even polynomial conditions the terms with even
a1
power (or) zero power of ‘s’ only. So, the roots of an even power
The sn–3 row values are to be calculated by using the polynomial occur in pairs which are having equal magnitude
values of the above rows (sn–1) and (sn–2) as follows: and opposite in sign. Hence, these complex and conjugate roots
sn–3 : c1c2c3 ...... occur in a group of four.

b1a3 − b2 a1 The polynomial in this case can be analyzed by the fol-

Where, c1 = lowing method.
b1
Procedure
b1a5 − a1b3
c2 = 1. Determine the auxiliary polynomial, with the above row
b1
in Routh array to the row with all zeros.
b1a1 − a1b4
c3 = and so on 2. Differentiate the auxiliary polynomial, A(s) with respect
b1
This process is to be continued until the nth row (s0 row) to ‘s’, to get
has been formed,
Finally, the Routh array will be in the following form. 3. The row with all zeros is replaced with coefficients of

sn = a0 a2 a4 a6. . . . . . . the polynomial

sn-1 = a1 a3 a5 a7. . . . . . .
4. Then complete construction of Routh array in the normal
sn-1 = b1 b2 b3 b4 . . . . . . way, (as in case I) then If there is no sign change in the
sn-3 = c1 c2 c3 c4 . . . . . . elements of first column of routh array, then the system
is stable otherwise the system is unstable.
. . .
Q19. The open loop transfer function of a unity
. . .
feedback control system is given by,
. . .
G(s) = Apply RH stability
s2 = f1 f2 .........
s1 = g1 ......... criterion, determine the value of K in terms of
T1 and T2 for the system to be stable.
s0 = h1
(Aug./Sep.-08, Set-4, Q4(b) | Aug./Sep.-07, Set-1, Q4(b) |
Note : The empty elements in all rows of Routh array are ‘zero’
Ans: Model Paper-I, Q6)
In the construction of Routh array, the following three
Open loop transfer function,
cases will occur.
Case I
K
G(s) =
Normal Routh Array s (1 + sT1 )(1 + sT 2 )
In this case there is no difficulty in forming Routh array. Given system is unity feedback i.e.,
The Routh array can be constructed with the above explained
procedure. ⇒ H(s) = 1

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Unit-3 Stability Analysis in Time Domain 3.7
Closed loop transfer function,
C (s) G(s)

=
R( s) 1 + G (s) H (s)
K
s (1 + sT1 )(1 + sT 2 )
=
K
1+ .(1)
s (1 + sT1 )(1 + sT 2 )
K
=
s (1 + sT1 )(1 + sT 2 ) + K
K
= 2
( s + s T1 )(1 + sT 2 ) + K
K
=
s + s T1 + s T2 + s 3T1T2 + K
2 2

K
=
T1T2 s + (T1 + T2 ) s 2 + s + K
3

Characteristic equation is,

T1 T2 s3 + (T1 + T2)s2 + s + K = 0
The routh array is constructed as shown below. The highest power of ‘s’ in the characteristic equation is odd (3). Hence,
form the first row using the coefficients of odd powers of ‘s’ and second row using the coefficients of even powers of ‘s’.

For the system to be stable, there should not be any sign change in the elements of the first column.
Hence, choose the value of ‘K’ so that the first column elements are positive.
From s0 row, for the system to be stable,
K > 0
From s row, for the system to be stable,
1

T1T2 K
1− > 0
T1 + T2
T1T2
⇒ 1> K
T1 + T2
T1 + T2
⇒ > K
T1T2
T1 + T2
⇒ The value of K should be less than
T1T2
∴ The range of K for the system to be stable is,
T +T
0<K < 1 2
T1T2

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3.8 control systems [JNTU-Anantapur]
Q20. With the help of Routh’s stability criterion find the statbility of the following systems represented by
the characteristic equations:
(i) s4 + 8s3 + 18s2 + 16s + 5 = 0
(ii) s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16 = 0
(iii) s5 + s4 + 2s3 + 2s2 + 3s + 5 = 0
Ans: Dec.-15, (R13), Q6

(i) The characteristic equation of the system is given as, s4 + 8s3 + 18s2 + 16s + 5 = 0
Construction of Routh’s Array,

∴ There is no sign change and all the elements are non-zero in the first column hence the system is stable.
(ii) For answer refer Unit-III, Q22
(iii) s5 + s4 + 2s3 + 2s2 + 3s + 5 = 0
Construction of Routh’s Array,

The first row corresponding of s3 is zero. So, replacing it by a small value k,
5k – 0 × 1
s2 :
k
s2 : ∞ 5

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Unit-3 Stability Analysis in Time Domain 3.9
Now, Applying limits

= 2 + ¥ = ¥ (Positive)

s1 :

s1 : 0

s1 : – 2 0
Applying limits, we get,

= – 2 (Negative)

 2k + 2 
– 2 × 5 – 0 
 k 
s0 : 0
–2
s0 : 5
∴ There is a sign change in the elements of first column, hence the system is unstable.
Q21. Investigate the stability of the given characteristic equation using Routh-Hurwitz criterion F(s) = s4 +
2s3 + 3s2 + 2s + 2.
Ans: Nov.-11, Set-2, Q5(b)
Given that,
F(s) = s4 + 2s3 + 3s2 + 2s + 2
The given equation is a 4th order polynomial. Hence, the first column of Routh array is constructed using the coefficients
of even powers of ‘s’ and the second column of Routh array is constructed using the co-efficients of odd powers of ‘s’.
s4 : 1 3 2
s3 : 2 2
Dividing the s3 row with ‘2’ we get,
s4 : 1 3 2
s
3
: 1 1
(1× 3) − (1×1) (1 × 2) − (1 × 0)
s2 : = 2 =2
1 1
Dividing s2 row with ‘2’ we get,
s4 : 1 3 2
s3 : 1 1
s2 : 1 1
(1×1) − (1×1)
s1 : =0
1
Since, s1 row is zero. Replace zero with ∈. i.e,
s4 : 1 3 2
s
3
: 1 1
s2 : 1 1
s1 :
∈
(∈ ×1) − (1× 0)
s0 : =1
∈

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3.10 control systems [JNTU-Anantapur]
Replacing ∈ with 0, we get,

By inspecting the first column of Routh array, it is clear that there are no sign changes. But, we have a row of all zeros
and so there is a possibility of roots on imaginary axis. This can be found from the roots of auxiliary polynomial. Hence, the
auxiliary polynomial is given by s2 row.
The auxiliary polynomial is given as,
s2 + 1 = 0
⇒ s2 = – 1
⇒ s2 = j 2
⇒ s=± j2
⇒ s=±j
The roots of auxiliary polynomial are +j, –j and are the roots of characteristic equation. Since, the roots of characteristic
equation lies of imaginary axis, the system is marginally stable.
Q22. Consider the sixth-order system with characteristic equation,
s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16 = 0. Comment on the stability.
(Nov.-12, Set-2, Q4 | Model Paper-II, Q6)
OR
Construct Routh array and determine the stability of the system whose characteristic equation is
s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16 = 0. Also determine the number of roots lying on right half of
s-plane, left half of s-plane and on imaginary axis.
Ans: April/May-09, Set-2, Q4(b)
Given that,
s6 + 2s5 + 8s4 + 12s3 + 20s2 + 16s + 16 = 0
The Routh array is constructed as shown below. The highest power of ‘s’ in the characteristic polynomial is even (6).
Hence form the first row of Routh’s array using the coefficients of even powers of ‘s’ and the second row using the coefficients
of odd powers of ‘s’.
s6 : 1 8 20 16 1st Row
s5 : 2 12 16 - 2nd Row
Dividing the elements of ‘s ’ row by ‘2’.
5

s6 : 1 8 20 16
s5 : 1 6 8 -
(1× 8) − (1× 6) (1× 16 ) − (1× 0)
s4 : = 2 = 12 = 16
1 1
Divide the elements of ‘s4’ row by ‘2’, we have,
s6 : 1 8 20 16
s :
5
1 6 8
s4 : 1 6 8
(1× 6) − (1× 6) (1× 8) − (1× 8)
s3 : = 0 =0
1 1

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Unit-3 Stability Analysis in Time Domain 3.11
The s row is zero. Hence, the auxiliary equation is given by,
3

A(s) = s4 + 6s2 + 8 ... (1)

Differentiating with respect to ‘s’, we have,

= 4s3 + 12s

Now, the coefficients of are used to form s3 row. Therefore, we have

s3 : 4 12
Dividing by 4
s3 : 1 3
s :
6
1 8 20 16
s :
5
1 6 8
s :
4
1 6 8
s3 : 1 3
(1× 6) − (1× 3) (1× 8) − (1× 0)
s2 : = 3 =8
1 1
(3 × 3) − (1× 8) 1
s1 : = = 0.33
3 3
(0.33 × 8) − (3 × 0)
s0 : =8 → Column 1
0.33
st
From the Routh’s array it is clear that, the I column has no sign changes the row with all zero’s indicate the possibility
of roots on imaginary axis. Hence, the system is limitedly (or) marginally stable.
From equation (1), we have,
A(s) = s4 + 6s2 + 8 = 0
Let s2 = x then
A(s) = x + 6x + 8 = 0 2

⇒ (x + 4) (x + 2) = 0
⇒ x = – 2, x = – 4
Replace x = s2 then,
s2 = – 2 s 2 =–4

⇒ s = ± −2 ⇒ s = ± −4

=±j 2 = ± j2

The roots of auxiliary equation are also the roots of characteristic equation. Hence four roots are lying on the imaginary
axis and the remaining two roots are lying on the left half of s-plane. There are no roots on the right half of s-plane.
Q23. For the system having characteristic equation 2s4 + 4s2 + 1 = 0, find the following:
(i) The number of roots in the left half of s-plane.
(ii) The number of roots in the right half of s-plane.
(iii) The number of roots on the imaginary axis.
Use the RH stability criterion.
Ans: Model Paper-III, Q7

Given that,
2s4 + 4s2 + 1 = 0
⇒ 2s4 + 0s3 + 4s2 + 1 = 0 ... (1)

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3.12 control systems [JNTU-Anantapur]
To determine,
(i) The number of roots in the left half of s-plane
(ii) The number of roots in the right half of s-plane.
(iii) The number of roots on the imaginary axis.
Construction of Routh’s Array
The given characteristic equation is of 4th order. Since, the highest power of s is an even number, form the first row of
Routh’s array using the coefficients of even powers of ‘s’ and second row using the coefficients of odd power of ‘s’.

As the second row of the Routh array is completely zero, we consider the coefficients of first row as the auxiliary equa-
tion.
∴ Auxiliary equation,
A(s) = 2s4 + 4s2 + 1 ... (2)
Differentiating equation (2) with respect to s, we get,

= 8s3 + 8s

The co-efficients of are used to form s3 row. Hence,

Routh’s array,

The roots of the auxiliary equation are given by,
A(s) =2s4 + 4s2 + 1 = 0
Put, s2 = x
⇒ 2x2 + 4x + 1 = 0 ... (3)
The roots of equation (3) are given by,

– b ± b 2 − 4ac
x1, x2 =
2a

–4 ± (4) 2 − (4 × 2 × 1)
⇒ x1, x2 =
2×2

–4 ± 16 − 8
⇒ x1, x2 =
4

–4 ± 8
⇒ x1, x2 =
4
–4 + 8
∴ x1 = = – 0.293
4
−4− 8
x2 = = – 1.707
4

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Unit-3 Stability Analysis in Time Domain 3.13
∴ The roots of auxiliary polynomial are,
s2 = –0.293 and s2 = –1.707

∴ s = and s =
s = ± j 0.541 and ± j 1.307
∴ s = + j 0.541, – j 0.541, + j 1.307, – j 1.307
The roots of the auxiliary equation in this case are nothing but the roots of the characteristic equation.
(i) The Number of Roots Lying in the Left Half of s-plane
The number of roots lying in the left half of s-plane = 0.
(ii) The Number of Roots in the Right Half of s-plane
The number of roots lying in the right half of s-plane = 0.
(iii) The Number of Roots on the Imaginary Axis
The number of roots on the imaginary = 4.
Q24. The open-loop transfer function of a unity feedback control system is given by

G(s) = . By applying the Routh criterion, discuss the stability of the closed-loop

system as a function of K. Determine the values fo K, which will cause sustained oscillations in the
closed-loop system. What are the corresponding oscillation frequencies?
(April/May-06, Set-3, Q4(b) | Nov./Dec.-05, Set-2, Q4(b)

Ans: April/May-05, Set-1, Q4(b) | April/May-03, Set-1, Q4(b))

Consider the given transfer function,

K
G(s) = ... (1)
( s + 2)( s + 4)( s 2 + 6 s + 25)
In order to determine the stability using Routh’s criterion, we must frame the characteristic equation of the given system.
The characteristic equation is given by,
1 + G(s)H(s) = 0
1 + G(s) = 0 [ H(s) = 1] ... (2)
Substituting equation (1) in equation (2) we get,
K
1+ = 0
( s + 2)( s + 4)( s 2 + 6 s + 25)
⇒ (s + 2) (s + 4) (s2 + 6s + 25) + K = 0
⇒ s4 + 12s3 + 69s2 + 198s + 200 + K = 0 ... (3)
The Routh’s array can now be constructed by taking the coefficients of equation (3).

(i) Stability of Closed Loop System as a Function of k

According to Routh’s criteria, a system is stable if all the entries in the first column of Routh’s array is of same sign i.e.,
positive.

Spectrum All-in-one journal for engineering students

3.14 control systems [JNTU-Anantapur]
Hence from the first column of Routh’s array we have,
3.2 The root locus concept –
>0 construction of root loci – effects
of adding poles and zeros to G(s) H(s)
7995 – 12K > 0 on the root loci
7995 > 12K Q25. Explain the construction rules for root locus
technique.
K < 666.25
Ans: Model Paper-III, Q6
And, 200 + K > 0 Root Locus Technique
K > – 200 Root locus method was introduced by W.R. Evans in the
year 1948, which is used to determine the movement of poles
But, K > – 200 is not possible as K is always a positive on s-plane.
integer. Root locus is the locus of the closed loop poles obtained
Hence the range of values of K for stability is, when the system gain ‘K’ is varied from –∞ to +∞(unless men-
tioned, variation in gain ‘K’ is usually assumed to 0 to +∞).
0 < K < 666.25
Construction Rules for Root Locus Techniques
(ii) Value of K for Sustained Oscillations and Frequency To simplify the constructin of root locus certain rules
of Oscillations are to be followed :
We know that a system will exhibit sustained oscillations Rule 1 : Root Locus is Symmetrical About the Real Axis
when it is marginally stable and the roots are lying on imaginary of the s-plane
axis. If any one row of Routh’s array is completely zero then Roots of the characteristic equation are either real or
it indicates the presence of roots on imaginary axis. Hence in complex conjugate or combination of both. Hence the locus
order to determine the values of K and ω under this condition, made by the roots must be symmetrical bout the real axis of
any one row of Routh’s array must be made zero. the s-plane.
Rule 2 : At open-loop poles, gain K= 0 and at open-loop
If we see the Routh’s array, the first three rows can’t
zeros, gain K = ∞
be made zero as they contain some integer values. Therefore
either s1 or s0 row must be made completely zero. s0 row can’t Let ‘n’ be the number of open loop poles and ‘m’ be the
be made zero because s1 row will become the row for forming number of open loop zeros.
auxiliary equation, but we know that auxiliary equation is an The open loop transfer function of the system is given
even power equation will now become odd because of s1 which by,
is not possible. K ( s + m1 )( s + m2 ).....
G(s) H(s) =
Hence from the above explanation it is clear that s1 row ( s + n1 )( s + n2 )......
should be made zero and s2 should be taken for framing auxiliary K Σ im=1 ( s + mi )
equation. G(s) H(s) = ... (1)
Σ nj =1 ( s + n j )
∴ =0 ∴ Characteristic equation is given as,
1 + G(s) H(s) = 0
7995 = 12K
K Σ im=1 ( s + mi )
K = 666.25 ⇒ 1+ = 0
Σ nj =1 ( s + n j )
Hence the value of K for sustained oscillations is 666.25.
[ from equation (1)]
The auxiliary equation is given by, ⇒ Σ nj =1 (s + nj) + K Σ i=
1 (s + mi) = 0 ..... (2)
m

52.5s + 200 + K = 0 2
Now, when K = 0, equation (2) has roots at s = –nj where
52.5s2 + 200 + 666.25 = 0 ( j = 1, 2, 3,..... n) which are the open loop poles.
∴ Each branch of the root locus starts at open loop poles.
52.5s 2 = – 866.25
Equation (2) can also be written as,
s 2 = – 16.5
s = ± j4.062 1 Σ n ( s + n ) + Σ m ( s + m ) = 0 ... (3)
j =1 j i =1 i
K
jω = ± j 4.062 [ s = jω] When K = ∞, the roots of equation (3) are s = –mi where
(i = 1, 2,...., m) which are open loop zeros of the system.
ω
= + 4.062 rad/sec
∴ ‘m’ branches of the root locus terminates on the open
[Since frequency can never be negative] loop zero.

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Unit-3 Stability Analysis in Time Domain 3.15
The number of branches of root locus which terminates The angle of departure from a real open loop pole is
on infinity is equal to the number of open loop poles minus always 0o and the angle of arrival at a real open-loop zero is
number of open loop zeros (i.e., (n – m)) always 180o.
Rule 3 : A point on real axis will lie on the root locus only if Rule 8 : Intersection of the root locus branches with the
the sum of, number of open loop poles and number of open imaginary axis and the critical value of K is found using routh
loop zeros, which lie to the right hand side of this point is and criterion.
odd number.
By applying the Routh’s criterion to the characteristic
Any point on the s-plane must satisfy the angle condition equation the critical value of K is determined.
i.e.,
G(s)H(s) = (2q + 1)180o If the critical value of K is positive, the root locus in-
tersects with the imaginary axis and if the critical value of K is

In order to be on the root locus. This condition will be
negative, the root locus does not intersect with imaginary axis
satisfied only if the sum of, number of open loop poles and open
and completely lies in the left half of s-plane.
loop zeros, to the right hand side of the point is odd.
After determination of critical value of K, the point of
Rule 4 : The number of branches of root locus which tend to
intersection with the imaginary axis is found.
infinity is equal to (n – m) and they do so along straight lines
called asymptotes making angles with the real axis. Angles Rule 9 : The value of open loop gain K at any point s = sa on
made by them are given by, the root locus is given by
±180o [2q + 1]
φA =
( n − m)
K=
Where, q = 0, 1, 2, ...... (n – m – 1)
Rule 5 : All asymptotes intersect with the real axis at a point
called centroid given by,
i.e.,
Centroid = σA =
The characteristic equation is given by,
Angles of asymptotes alone are not sufficient, location of
1 + G(s) H(s) = 0
the asymptotes on the s-plane are equal important. All asymp-
totes intersect the real axis at centroid which can be determined |G(s) H(s)| = 1
using the above formula.
K ( s + m1 )( s + m2 )....
Rule 6 : The breakaway points and break-in points are the ⇒ =1
dK ( s + n1 )( s + n2 )
roots of the equation = 0 , and the angle at which the root
ds ( s + n1 )( s + n2 )....
180 o ⇒ | K | =
locus branches, break away is given at ± , where r is the
r ( s + m1 )( s + m2 )....
number of branches approaching or leaving the break point.
Σ pj =1 ( s + n j )
Breakaway points and break-in points are the points on ⇒ | K | =
Σ iz=1 ( s + mi )
the root locus at which, for a particular value of K, characteristic Q26. Discuss the effect of adding poles and zeros to
equation has multiple roots. G(s) H(s) on the root locus of the closed loop
Rule 7 :Angle of departure from open-loop pole is given by, system.
φ d = ±(2q + 1)π + φ where q = 0, 1, 2,.... Ans:
and f is the net angle contributed by all other open lop Effect of addition of poles and zeros to G(s) H(s) on root
poles and zeros, when joined to the complex pole whose φd is locus of the closed loop system.
to be calculated. 1. Effect of Addition of Poles
Angle of arrival at an open-loop zero is given by (i) Addition of a pole shifts the root loci to the right half of
φ a = ±(2q + 1)π − φ where q = 0, 1, 2,.... the s-plane.
And φ is the net angle contributed by all other open loop K
Consider a function G(s) H(s) = ... (1)
poles and zeros, when joined to the complex zeros whose φa is s ( s + P1 )
to be calculated. Where,

The angle of departure and angle of arrival are calculated P1 > 0

only when there are complex poles and zeros. The poles are s = 0 and s = –P1.

Spectrum All-in-one journal for engineering students

3.16 control systems [JNTU-Anantapur]
Figure (1) shows the root locus of equation (1), We observe that the imaginary root loci are bent farther
to the right i.e., to an angle of ±45°.
The stability condition becomes more acute compared to
the systems of equation (2) and equation (1).
Addition of a pair of complex conjugate poles exhibits
the same result.
(iii) Addition of pole makes the system, more oscillatory in
Figure (1) nature.
Now, let us introduce another pole at s = – P2 (iv) When a pole is added to the system the range of K
Where P2 > P1. decreases.
K (v) Addition of a pole decreases, the relative stability and
∴ G(s) H(s) = ... (2) gain margin of the system.
s ( s + P1 ) ( s + P2 )
2. Effect of Addition of Zeros
Figure (2) shows the root locus of equation (2).
Addition of a zero to the system shifts the root loci to the
left half of the s-plane away from the imaginary axis.
Consider the function,

K
G(s) H(s) = ... (1)
s ( s + P1 )
Where,
P1 > 0
Figure (2)
Let us introduce a zero at s = – Z, to the system of
From figures (1) and (2), we observe that introduction of
equation (1).
the pole at s = –P2 shifts the intersect of the asymptotes
− P1 −( P1 + P2 ) K ( s + Z1 )
from to on the real axis. The angle of ∴ G(s) H(s) = ... (2)
2 2 s ( s + P1 )
asymptotes changes from ±90° to ±60°. It makes the Where,
imaginary part of the locus to bend to the right half of Z1 > P1
the s-plane.
(ii) There is a relative decrease in the stability of the system. Figure (4) shows the root locus of equation (2).
The system shown in figure (1) is always stable for
K > 0. In case of the system shown in figure (2), for
K > critical value of stability, the system would be
unstable.
Let us add another pole s = –P3
Where,
P3 > P2, then the transfer function becomes.
K
G(s) H(s) = ... (3)
s ( s + P1 ) ( s + P2 ) ( s + P3 )
Figure (3) represents the root locus of equation (3),

Figure (4)
(i) We observe that addition of zero has bent the imaginary
part of the system of equation (1) to the left to form a
circle.
(ii) There is a relative increase in the stability of the system
on addition of a zero to the system This is because
addition of a zero shifts the root locus of the system
towards the left, as seen in figure (1) and figure (4).
(iii) Addition of a pair of complex conjugate zeros to the
system shown in figure (1) gives a root locus shown in
Figure (3) figure (5).

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Unit-3 Stability Analysis in Time Domain 3.17
Substituting equation (4) in equation (3), we get,

A(s) = D(s) N(s) = 0

⇒ D(s) – N(s) = 0 ... (5)

From equation (3), we have,

A(s) = D(s) + K N(s) = 0

Figure (5) D( s)
⇒ K = − ... (6)
This has the same effect as in the case of addition of a N (s)
zero at s = – Z1.
Differentiating equation (6) with respect to s and equat-
(iv) Addition of zero decreases the oscillatory nature of the ing to zero, we get,
system.
(v) When a zero is added to the system the range of K
decreases.
= – =0
Q27. Show that the breakaway and break-in points,
if any, on the real axis for the root locus for

G(s)H(s) = , where N(s) and D(s) are

= – = 0 ... (7)
rational polynomials in s, can be obtained by
We know that equation (5) gives the actual breakaway
solving the equation = 0. points of the given system which is same as equation (7). Hence
the actual breakaway points can be obtained by solving the
(April/May-06, Set-1, Q5(a) | April/May-06, Set-2, Q5(a) | equation,
Nov./Dec.-05, Set-2, Q5(a) | Nov./Dec.-05, Set-4, Q5(a) |
Ans: Nov./Dec.-04, Set-1, Q5(a)) = 0
Breakaway or break-in points are the points at which
multiple roots of the characteristic equation occurs. Q28. Sketch the root locus plot for a system with the
The characteristic equation of a system is given by, open loop transfer function:
A(s) = 1 + G(s) H(s) = 0 ... (1) G(s) H(s) =
But it is given that,
Ans: May-10, Set-3, Q4(b)
G(s) H(s) = ... (2) Given that,
Open loop transfer function,
Where, N(s) and D(s) are the rational polynomials in s.
Substituting equation (2) in equation (1), we get, K
G(s) H(s) =
s ( s + 1)( s + 2)
A(s) = 1 + =0
Step 1: To Locate Poles and Zeros
A(s) = D(s) + KN(s) = 0 ... (3) The poles of the open loop transfer function are the roots
Differentiating equation (3) with respect to s, we get, of the equation, s(s + 1) (s + 2) = 0
∴ The poles are, s = 0, –1, – 2
= + =0
Step 2: To Find the Root Locus on the Real Axis
Rearranging the above equation we get,
There are three poles on the real axis. Choose a test
point on the real axis between s = 0 and s = – 1. To the right of
K= ... (4) this test point, the total number of real poles and zeros is one,
which is an odd number. Hence the real axis between s = 0 and
s = – 1 will be a part of the root locus.

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3.18 control systems [JNTU-Anantapur]
Choose a test point on the real axis between s = – 1 and Step 4: To Find Breakaway and Break-in Points
s = – 2. To the right of this point, the total number of real poles The closed loop transfer function is,
and zeros is 2 which is an even number. Hence the real axis K
between s = – 1 and s = – 2 will not be a part of the root locus. C (s) s ( s 1)( s + 2)
+
Choose a test point between s = – 2 and s = – . To = K
R( s) 1 +
the right of this point, the total number of real poles and zeros s ( s + 1)( s + 2)
is three, which is an odd number. Hence the entire negative
C (s) K
real axis between s = – 2 and s = – will be a part of the root ⇒ =
locus. R( s) s ( s + 1)( s + 2) + K
The characteristic equation is given by,
s(s + 1) (s + 2) + K = 0
⇒ s(s2 + 3s + 2) + K = 0
⇒ (s3 + 3s2 + 2s) + K = 0
⇒ K = – (s3 + 3s2 + 2s) ... (1)
Differentiating equation (1) with respect to ‘s’ we get,

= – (3s2 + 6s + 2)

Put, =0

⇒ – (3s2 + 6s + 2) = 0
⇒ 3s2 + 6s + 2 = 0
Figure (1): Pole-zero along with the Root Locus on Real Axis
Step 3: To Find Asymptotes and Centroid − (6) ± 6 2 − (4 × 3 × 2)
⇒ s =
Since there are three poles, the number of root locus (2 × 3)
branches are three. Hence, all the three root locus branches end
− 6 ± 36 − 24
at zeros and at infinity. The number of asymptotes required are ⇒ s =
three.
6
⇒ s = – 0.422, – 1.577
Angle of asymptotes = ± Check for K,
When s = – 0.422 then, equation (1) becomes,
q = 0, 1, 2, 3
Where,
K = – [(– 0.422)3 + 3(– 0.422)2 + 2(– 0.422)]
n = Number of poles
K = – [– 0.0751 + 0.5342 – 0.844]
m = Number of zeros
K = 0.385
For q = 0, Angles of asymptotes = ± Now,
= ± 60 When s = – 1.577
For q = 1, Angles of asymptotes = ± K = –[(–1.577)3 + 3(– 1.577)2 + 2(– 1.577)]
= ± 180 K = – [–3.921 + 7.46 – 3.154]
K = – 0.385
For q = 2, Angles of asymptotes = ± From the above, it is clear that, when s = – 0.422, K is
= ± 300 =  60 positive. Hence, s = – 0.422 is the actual breakaway point which
is marked on the negative real axis.
180(2(3) + 1)
For q = 3, Angles of asymptotes = ± Step 5: To Find the Angle of Departure and Arrival
3−0
= ± 420 = 60º The closed loop transfer function of the given system
does not contain either a complex pole or a complex zero. Hence
The centroid is given as,
angle of departure and arrival is not calculated.
Centroid, C = Step 6: To Find the Crossing Point on the Imaginary Axis
The characteristic equation is given by,
(0 + (−1) + (−2)) − 0 −3
⇒ C = = s3 + 3s2 + 2s + K = 0
3−0 3
Put s = jω
C = −1 Þ (jω)3 + 3(jω)2 + 2(jω) + K = 0

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Unit-3 Stability Analysis in Time Domain 3.19
Þ ( j j) ω + 3( j ).ω + 2jω + K = 0
2 3 2 2

Þ – jω3 – 3ω2 + 2jω + K = 0

Þ (–3ω2 + K ) + j (– ω3 + 2ω) = 0
Equating imaginary part to zero,
– ω3 + 2ω = 0
Þ – ω3 = – 2ω
Þ ω2 = 2
ω = ± 2 = ± 1.414
Equating real part to zero,
– 3ω2 + K = 0
Þ K = 3ω2
Þ K=3×2
∴ K =6
∴ The crossing point on the imaginary axis is ± 1.414, for which the value of K is 6.
Step 7: To sketch the root locus. The complete root locus is shown in graph.

Figure (4): Graph

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3.20 control systems [JNTU-Anantapur]
Q29. Sketch the root locus for the given system with For q = 0
G(s) H(s) = (K(s + 1))/(s(s + 2)). 180º (2(0) + 1)
θ = + = + 180º
Ans: Nov.-12, Set-1, Q4 2 −1
Given that, For q = 1
K ( s + 1) 180º (2(1) + 1)
G(s) H(s) = ... (1) θ = + = + 180º (3) = + 540º
s ( s + 2) 2 −1
Step 1: Location of Poles and Zeros And also, the centroid is given as,
Location of Poles Centroid =
The denominator of the transfer function gives the
number of poles. (0 − 2) − ( −1)
= =–1
i.e., s(s + 2) =0 2 −1
∴ Poles are located at s = 0 and s = – 2 Step 4: Determination of Breakaway and Break-in Points
Number of poles n = 2 The transfer function of the system is given by,
Location of Zeros K ( s + 1)
The numerator of the transfer function gives the number G ( s) H ( s) s ( s + 2)
of zeros. =
1 + G ( s ) H ( s ) 1 + K ( s + 1)
i.e., (s + 1) = 0 s ( s + 2)
∴ Zero is at s = – 1
K ( s + 1)
Number of zeros, m = 1
s ( s + 2)
Step 2: Determination of Existence of Root Locus on Real =
s ( s + 2) + K ( s + 1)
Axis
s ( s + 2)
There are 2 poles and 1 zero on the real axis. The region
of the root locus is selected such that by selecting a test point on K ( s + 1)
the real axis, there should be odd number of poles and zeros to =
s ( s + 2) + K ( s + 1)
the right of the test point and if even number of poles and zeros
exist, then that point does not lie on the root locus region. The Therefore, characteristic equation is,
root locus region on the real axis is drawn as shown in figure, s(s + 2) + K(s + 1) = 0
⇒ K(s + 1) = – s(s + 2)

− s ( s + 2)
⇒ K =
( s + 1)

− s 2 − 2s
⇒ K =
s +1
By differentiating ‘K’ with respect to ‘s’, we get,
( s + 1)( −2 s − 2) − (− s 2 − 2 s ). 1
=
( s + 1) 2

− 2s 2 − 2s − 2s − 2 + s 2 + 2s
⇒ =
Figure ( s + 1) 2
Root locus exists between s = – 1 and s = 0
− s 2 − 2s − 2
s = – ∞ and s = – 3 =
( s + 1) 2
Step 3: To Determine Angle of Asymptotes and Centroid
As the number of poles are two so, two root locus By equating = 0, we get,
branches exist.
The angle of asymptotes is given as, − s 2 − 2s − 2
= 0
180º (2q + 1) ( s + 1) 2
θ = + ( q = 0, 1, 2 .... n – m)
n−m s2 + 2s + 2 = 0 ... (2)

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Unit-3 Stability Analysis in Time Domain 3.21
On solving equation (2), we get,

– b ± b 2 − 4ac
s =
2a

–2 ± 22 − 4(1)(2)
=
2(1)

–2 ± 4 − 8 –2 ± −4
= =
2 2
s = – 1 + j

– ( − 1 + j ) 2 − 2( − 1 + j )
When, s = – 1 + j, K = −
−1+ j +1
= – 2j ≠ Positive and real.

− (−1 − j ) 2 − 2(−1 − j )
When s = –1 – j, K =
−1− j +1
= 2j ≠ Positive and real.
Since, the values of K are not positive and real, there is no actual breakaway or break-in points on root locus.
Step 5: Determination of Angle of Departure or Angle of Arrival
The open loop transfer function of the given system does not contain either a complex pole or a complex zero. Hence,
angle of departure or angle of arrival is absent.
Step 6: To Find Crossing Point on the Imaginary Axis
The characteristic equation is given by,
s(s + 2) + K(s + 1) = 0
s2 + 2s + Ks + K = 0
s2 + s(2 + K) + K = 0
Put, s = jω
(jω)2 + jω (2 + K) + K = 0
– ω2 + jω (2 + K ) + K = 0 ... (3)
Equating Real and Imaginary Axis
On equating the imaginary part of equation (3) to zero, we get,
jω (2 + K) = 0
2 + K = 0
K = – 2
On equating the real part of equation (3) to zero, we get,
– ω2 + K = 0
– ω2 – 2 = 0
– ω2 = 2
⇒ ω2 = – 2 ⇒ ω = ± − 2
ω = j 1.414
Hence, the crossing point on imaginary axis is + j 1.414
Step 7: To Sketch the Root Locus
The complete root locus is shown in graph.

Spectrum All-in-one journal for engineering students

3.22 control systems [JNTU-Anantapur]

Graph
Q30. Sketch the root locus for the unity feedback system whose open loop transfer function is,
G(s) H(s) = K(s+1.5)/[s(s+1) (s+5)].
Ans: (Nov.-12, Set-3, Q4 | Model Paper-I, Q7)

Given that,
K ( s + 1.5)
G(s) H(s) =
s ( s + 1)( s + 5)

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Unit-3 Stability Analysis in Time Domain 3.23
Step 1: Location of Poles and Zeros For q = 0
Location of poles,
θ =
The denominator of the transfer function gives the
number of poles i.e., θ = ± 90°
s(s + 1) (s + 5) = 0 For q = 1
∴ Poles are located at s = 0, s = – 1, s = – 5
θ = =
Number of poles, n = 3
Location of zeros, = ± 270°
The numerator of the transfer function gives the number The centroid is given as,
of zeros i.e.,
s + 1.5 = 0 Centroid =
s = – 1.5 (0 − 1 – 5) – ( −1.5)
∴ Zeros are located at s = – 1.5 =
3 −1
Number of zeros, m = 1 = – 2.25
Step 2: Determination of Existence of Root Locus on Real Step 4: Determination of Breakaway and Break-in Points
Axis
The transfer function of the system is given by,
There are 3 poles and 1 zero on the real axis. The region
of the root locus is selected such that by selecting a test point on K ( s + 1.5)
the real axis, there should be odd number of poles and zeros to G ( s) H ( s) s ( s + 1)( s + 5)
the right of the test point and if even number of zeros and poles =
1 + G (s) H (s) K ( s + 1.5)
exists, then that point does not lie in the root locus region. 1+
s( s + 1)( s + 5)
The root locus region on the real axis is drawn in
figure (1), K ( s + 1.5)
s ( s + 1)( s + 5)
=
s ( s + 1)( s + 5) + K ( s + 1.5)
s ( s + 1)( s + 5)
K ( s + 1.5)
=
s ( s + 1)( s + 5) + K ( s + 1.5)
Therefore the characteristic equation is,
s(s + 1)(s + 5) + K(s + 1.5) = 0
K(s + 1.5) = – s(s + 1)(s + 5)

− s ( s + 1)( s + 5) − ( s 2 + s )( s + 5)
K = =
( s + 1.5) ( s + 1.5)

− ( s 3 + 6 s 2 + 5s )
Figure (1) K = ... (1)
s + 1.5
The bold line represents the root locus on real axis.
By differentiating ‘K’ with respect to ‘s’ we get,
∴ Root locus exists between s = – 1 and s = 0
Root locus will not exist between s = – 1.5 and s = – 1 − (3s 2 + 12 s + 5)( s + 1.5) − [−( s 3 + 6 s 2 + 5s )]( 1)
=
Root locus will exists between s = – 5 and s = – 1.5 ( s + 1.5) 2
Root locus will not exist between s = ∞ and s = – 5 − (3s 2 + 12 s + 5)( s + 1.5) + s 3 + 6 s 2 + 5s
=
Step 3: To Determine Angle of Asymptotes and Centroid ( s + 1.5) 2
As the number of poles are three, so three root locus − (3s 3 + 4.5s 2 + 12 s 2 + 18 s + 5s + 7.5) + s 3 + 6 s 2 + 5s
branches exist. =
( s + 1.5) 2
There is one finite zero, so one branch will terminate at
finite zero and the two branches will terminate at infinity. Thus, − 3s 3 − 16 .5s 2 − 23 s − 7.5 + s 3 + 6 s 2 + 5s
there are two asymptotes and the angle of asymptotes is given =
( s + 1.5) 2
by,
− 2 s 3 − 10 .5s 2 − 18 s − 7.5
θ = ( q = 0, 1, 2 ... n – m) =
( s + 1.5) 2

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3.24 control systems [JNTU-Anantapur]

By equating = 0, we get,

− 2 s 3 − 10 .5s 2 − 18 s − 7.5
=0
( s + 1.5) 2
⇒ – 2s3 – 10.5 s2 – 18 s – 7.5 = 0
⇒ – 2(s3 + 5.25 s2 + 9 s + 3.75) = 0
⇒ s3 + 5.25 s2 + 9s + 3.75 = 0 ... (2)
Equation (2) is third order equation.
By solving the above equation, we get,
s = – 0.6
s = – 2.322 + j 0.891
s = – 2.322 – j 0.891
When s = – 0.6, equation (1) becomes,

K =
= 1.173
Hence,
When s = – 0.6, K is positive. Thus, the value of K i.e., K = 1.173 is the actual breakaway point which is marked on the
negative real axis.
Step 5: To Find Angle of Departure
The closed loop transfer function of the given system does not contain either a complex pole or a complex zero. Hence,
angle of departure is not calculated.
Step 6: To Find the Crossing Point on the Imaginary Axis
The characteristic equation is given by,
s(s + 1)(s + 5) + K(s + 1.5) = 0
s3 + 6s2 + 5s + Ks + 1.5 K = 0
s3 + 6s2 + s(5 + K) + 1.5 K = 0
Put, s = jω
(jω)3 + 6(jω)2 + jω(5 + K) + 1.5 K = 0
– jω3 – 6ω2 + j5ω + jKω + 1.5 K = 0 ( j2 = – 1) ... (3)
Equating real and imaginary parts to zero.
On equating the imaginary part of equation (3) to zero, we get,
– jω3 + j5ω + jKω = 0
– jω3 = – j5ω – jKω
– jω3 = – jω (5 + K)
ω2 = 5 + K ... (4)
On equating the real part of equation (3) to zero, we get,
– 6ω2 + 1.5 K = 0
– 6ω2 = – 1.5 K
– 6(5 + K) = – 1.5 K [ ω2 = 5 + K]
– 30 – 6 K = – 1.5 K
– 30 = 6 K – 1.5 K
4.5 K = – 30
30
K = −
4.5
K = – 6.67
Since the value of K is negative there is no crossing point on imaginary axis.

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Unit-3 Stability Analysis in Time Domain 3.25
Step 7: To sketch the root locus the complete root locus is shown in graph.

Figure
Q31. Sketch the root locus for the unity feedback system whose open loop transfer function is:
G(s) H(s) = k(s2 + 6s + 25)/[s(s + 1) (s + 2)].
Ans: Nov.-12, Set-4, Q4
Given that,
The open loop transfer function for a unity feedback system is,
K ( s 2 + 6 s + 25)
G(s) H(s) =
s ( s + 1)( s + 2)

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3.26 control systems [JNTU-Anantapur]
Step 1: Location of Poles Zeros Step 3: To Determine Angle of Asymptotes and Centroid
Location of Poles As the number of poles are three, three root locus
The denominator of the transfer function gives the branches exist. There are two finite zeros, so two branches will
number of poles. terminate at finite zero and the third branch will terminate at
i.e., s(s + 1) (s + 2) = 0 infinity. Thus, there is one asymptote given by,
∴ Poles are located at s = 0; s = – 1; s = – 2
θ = ( q = 0, 1, 2, . . n – m)
Number of poles, n = 3
Location of Zeros For q = 0,
The numerator of the transfer function gives the number θ =
of zeros.
s2 + 6s + 25 = 0
i.e., θ = ± 180°

− b ± b 2 − 4ac For q = 1,
s =
2a θ =
2
− 6 ± 6 − 4(1)( 25 )
= = ± 540º
2(1)
The centroid is given as,
− 6 ± 36 − 100
=
2
Centroid =
− 6 ± − 64
= = –3 ± j4
2 0 − 1 − 2 − [−3 + j 4 − 3 − j 4]
=
∴ Zeros are located at s = – 3 + j4 and s = – 3 – j4 3− 2
Number of zeros, m = 2 −3 + 6
= =3
Step 2: Determination of Existence of Root Locus 1
The region of the root locus is selected such that by Centroid = 3
selecting a test point on the real axis, there should be odd Step 4: Determination of Breakaway and Break-in Points
number of poles and zeros to the right of the test point and if
even number of zeros and poles exists, then that point does not The transfer function of the system is given by,
lie in the root locus region. The root locus region on the real
K ( s 2 + 6 s + 25)
axis is drawn as shown in figure (1).
G ( s) H ( s) s ( s + 1) ( s + 2)
=
1 + G ( s) H ( s) K ( s 2 + 6 s + 25)
1+
s ( s + 1) ( s + 2)

K ( s 2 + 6 s + 25)
s ( s + 1) ( s + 2)
=
s ( s + 1) ( s + 2) + K ( s 2 + 6s + 25)
s ( s + 1) ( s + 2)
K ( s 2 + 6 s + 25)
=
s ( s + 1) ( s + 2) + K ( s 2 + 6 s + 25)
Therefore characteristic equation is,
s(s + 1) (s + 2) + K(s2 + 6s + 25) = 0
K(s2 + 6s + 25) = – s(s + 1) (s + 2)
− s ( s + 1) ( s + 2)
⇒ K =
s 2 + 6s + 25
− ( s 2 + s ) ( s + 2)
Figure K =
s 2 + 6 s + 25
The bold line represents the root locus on real axis.
Root locus exists between s = – 1 and s = 0 and s ⇒ − ( s 3 + 3s 2 + 2 s ) − s 3 − 3s 2 − 2 s
K = = 2 ... (1)
= – ∞ and s = – 2. s 2 + 6 s + 25 s + 6 s + 25

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Unit-3 Stability Analysis in Time Domain 3.27
By differentiating ‘K’ with respect to ‘s’, we get,

(−3s 2 − 6s − 2) ( s 2 + 6s + 25 ) − (− s 3 − 3s 2 − 2s ) (2 s + 6)
=
( s 2 + 6s + 25 ) 2

− 3s 4 − 18 s 3 − 75 s 2 − 6 s 3 − 36 s 2 − 150 s − 2 s 2 − 12 s − 50 + 2 s 4 + 6 s 3 + 6 s 3 + 18 s 2 + 4 s 2 + 12 s
=
( s 2 + 6 s + 25 ) 2
4 3 2
dK − s − 12 s − 91 s − 150 s − 50
=
ds ( s 2 + 6 s + 25 ) 2

By equating = 0, we get,

= 0

s4 + 12s3 + 91s2 + 150s + 50 = 0 ... (2)

The equation (2) is fourth order polynomial equation and can be solved by Lin’s method.
Let the last three terms of equation (2),
1st trial divisor = 91s2 + 150s + 50

= s2 +

= s2 + 1.65s + 0.55

2nd trial divisor = 73.37s2 + 144.3s + 50

= s2 +
= s2 + 2s + 0.7

Therefore, on neglecting the small remainder, we can write,

s4 + 12s3 + 91s2 + 150s + 50 = (s2 + 2s + 0.7) (s2 + 10s + 70.3)

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3.28 control systems [JNTU-Anantapur]
The roots of the quadratic equation, Angle of arrival at Z1 = – 180° – θ4 + (θ1 + θ2 + θ3)
s + 2s + 0.7 = 0 are s = – 0.45, s = – 1.55
2
= –180° – 90° + 126.9° + 116.6° + 104°
The roots of the quadratic equation,
= 77.5°
s2 + 10s + 70.3 = 0 are s = – 5 ± j6.73
Angle of arrival at Z2 = – Angle of arrival at Z1
The points s = – 1.55 and s = – 5 ± j6.73 does not lie in
the root locus region, so they are not the breakaway points.
= – 77.5°

When, s = – 0.45, equation (1) becomes, Step 6: To Find the Crossing Point on the Imaginary Axis

The characteristic equation is given by,

− (−0.45 ) 3 − 3(−0.45 ) 2 − 2(−0.45 )
K =
(−0.45 ) 2 + 6(−0.45 ) + 25 s(s + 1) (s + 2) + K (s2 + 6s + 25) = 0

K = 0.017 s(s2 + 3s + 2) + K (s2 + 6s + 25) = 0

When s = – 0.45, K is positive. Thus the value of K i.e., s3 + 3s2 + 2s + Ks2 + 6sK +25K = 0
K = 0.017 is the actual breakaway point which is marked on
the negative real axis. s3 + s2 (3 + K) + s (2 + 6K) + 25K = 0

Step 5: To Find the Angle of Arrival Put s = jω

Since we have complex zeros, there is angle of arrival. (jω)3 + (jω)2 (3 + K) + jω (2 + 6K) + 25K = 0
Consider the complex zero Z1. Draw vectors from all – jω3 – ω2 (3 + K) + jω (2 + 6K) + 25K = 0
other poles and zero to the zero Z1. ... (3)
Let the angle of these vectors be θ1, θ2, θ3 and θ4. Equating real and imaginary parts to zero.

4 On equating the imaginary part of equation (3) to zero,

∴ θ = 180° – tan–1   = 126.9°
3 we get,

4 – jω3 + jω (2 + 6K) = 0

θ2 = 180° – tan   = 116.6°
–1
2 – jω3 = – jω (2 + 6K)
4 ω2 = 2 + 6K ... (4)
θ3 = 180° – tan–1   = 104°
1
On equating the imaginary part of equation (4) to zero,
θ4= 90°
we get,

– ω2 (3 + K) + 25K = 0

– (2 + 6K) (3 + K) + 25K = 0

– (6 + 18K + 2K + 6K2) + 25K = 0

– 6K2 – 20K – 6 + 25K = 0

– 6K2 + 5K – 6 = 0

− 5 ± 5 2 − 4(−6)( −6)
K =
2(−6)
K = 0.4 ± j0.9
Thus, the value of K is complex, there is no crossing
point on imaginary axis.
Step 7: To sketch the root locus. The complete root locus is
Figure shown in graph.

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Unit-3 Stability Analysis in Time Domain 3.29

Graph
Q32. Sketch the root locus plot of a unity feedback system whose open loop T.F is,

G(s) = .

Ans: (April/May-09, Set-3, Q4 | Aug./Sep.-08, Set-3, Q4)

Given that,
G(s) =

H(s) = 1 (As it is a unity feedback system)

K ( s + 9)
∴ G(s)H(s) =
s ( s 2 + 4 s + 11 )

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3.30 control systems [JNTU-Anantapur]
Rule 1: To Find Poles and Zeros Rule 3: To Find Angle of Asymptotes
Let ‘n’ be the number of poles The Angle of Asymptotes is given by,
‘m’ be the number of zeros.
(i) Poles are obtained by equating denominator to zero. θ =
s = 0 and s2 + 4s + 11 = 0
Now consider, s2 + 4s + 11 = 0 Take, q = 0, 1, 2 ( there are 3 poles)

− 4 ± 4 2 − 4 × 1 × 11 For q = 0, Angle of asymptotes =

s =
2 ×1
− 4 ± − 28 =
=
2
= 90º
− 4 ± j 5.29
=
2 For q = 1, Angle of asymptotes =
= – 2 ± j2.64
∴ The poles are, =
s = 0
s = – 2 + j2.6 = 270º
s = – 2 – j2.6
For q = 2, Angle of asymptotes =
Number of poles, n = 3
(ii) Zeros are obtained by equating numerator to zero.
∴ s + 9 = 0 =
s = – 9
Number of zeros, m = 1 = 450º
Rule 2: To Find Root Locus on Real Axis = 450o – 360o
A point on real axis is said to be on root locus if the sum
= 90o
of open loop poles and zeros to the right side of this point is an
odd number. Rule 4: To Find the Centroid
The pole-zero plot is shown in figure (1). Consider a test Centroid is an intersection point of the Asymptotes of
point on the real axis between the pole s = 0 and zero s = – 9. locus on the real axis.
The sum of poles and zeros towards the right of test point is an
odd number. Hence, the real axis between the pole s = 0 and zero
s = – 9 is the part of real axis. Similarly, if we consider a test Centroid =
point between the zero s = – 9 and s = – ∞, the sum of poles
and zeros towards the right of test point will be even. Hence, 0 − 2 + j 2.64 − 2 − j 2.64 − (−9)
the real axis between the zero s = 9 and s = – ∞ will not be =
3 −1
part of root locus.
5
=
2
Centroid = 2.5
Rule 5: To Find the Breakaway Point
From figure (1), seeing the root locus,
There is no possibility of breakaway points, since no
multiple roots occur.
Rule 6: To Find the Angle of Departure
The angle of departure is found out for complex poles
terminating at ∞.
Angle of departure, φD = 180 + φ
Where, φ = Σφn – Σφm
Figure (1) To determine angle of departure consider figure (2).

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Unit-3 Stability Analysis in Time Domain 3.31
Now consider the imaginary part and equate it to zero.
– jω3 + j11ω + jKω = 0
– jω3 = – j11ω – jKω
ω2 = 11 + K ... (2)
Substitute equation (2) in equation (1), we get,
9K = 4ω2
9K = 4(11 + K)
9K = 44 + 4K
44 = 9K – 4K
Figure (2)
From figure (2), we have, 5K = 44
 2.64 
θ1 = 180 – tan–1   = 180 – 52.85 K =
 2 
∴ θ1 = 127.15º K = 8.8
θ2 = 90º
 2.64  Now substitute the value of K in equation (2), we get,
θ3 = tan–1  
 7  ω2 = 11 + 8.8
θ3 = 20.66º ω2 = 19.8
∴ Angle of departure,
ω = ± 19 .8
φD = 180 – (θ1 + θ2) + θ3
ω = ± 4.4
= 180º – (127.15 + 90) + 20.66
= 180 – 217.15 + 20.66 ∴ The crossing point of imaginary axis ω = ± 4.4.
= – 16.49º Step 8: To sketch the root locus. The complete root locus is
Rule 7: Intersection of Root Locus with Imaginary Axis shown in graph.
Consider closed loop transfer function,
C (s) G(s)
= =
R(s) 1 + G (s)
K ( s + 9)
s ( s 2 + 4 s + 11 )
=
K ( s + 9)
1+
s ( s 2 + 4 s + 11 )
K ( s + 9)
= 2
s ( s + 4 s + 11 ) + K ( s + 9)
K ( s + 9)
= 3 2
( s + 4s + 11 s ) + Ks + 9 K
Consider the denominator term which gives the charac-
teristic equation.
(s3 + 4s2 + 11s) + Ks + 9K = 0
Substitute s = jω
(jω)3 + 4(jω)2 + 11(jω) + K(jω) + 9K = 0
– jω3 – 4ω2 + j11ω + jKω + 9K = 0
– jω3 + j11ω – jKω – 4ω2 + 9K = 0
Considering the real part and equating it to zero.
– 4ω2 + 9K = 0
⇒ 9K = 4ω2 ... (1)

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3.32 control systems [JNTU-Anantapur]
Q33. Sketch the root locus plot of a unity feedback For q = 2,
system whose open loop T.F is,
Angle of asymptotes = ±
G(s) =

Ans: (April/May-09, Set-4, Q4(a) | Model Paper-II, Q7) =±

Given that,
= ± 450o
s
G(s) = 2 The centroid is given as,
( s + 4)( s + 2)
Step 1:To Locate Poles and Zeros Centroid =
Zeros = 0
−2 + j 2 − j 2 − 0
Poles = –2, + j2, –j2 =
3 −1
Step 2:To Locate Root Locus on Real Axis
Step 4: To Find Break-away and Break-in Points

From the location of poles and zero’s and from typical

sketches of root locus, it can be concluded that there is no pos-
sibility of break-way (or) break-in points.

Step 5: To Find Angle of Departure

Figure (1)
Consider a test point ‘A’ which is in between a pole and
zero (s = –2, s = 0). Now, the total number of real poles and
zero’s on the right side of a test point is one, which is an odd
number. Hence, the real axis between the pole (s = –2) and a
zero (s = 0) is the part of root locus.
Now, when a test point ‘B’ is considered then the total
number of poles and zero’s on right side of the test point are
two, which is an even number. Hence, the real axis between (s
= – ∞) and s = –2 is not the part of root locus. Figure (2)
Step 3: To Find Angle of Asymptotes and Centroid From figure (2), we have,
Number of poles, n = 3
θ1 = 90°
Number of zeros, m = 1

Angle of asymptotes = ± θ2 = 90°

For q = 0,  
2
θ3 = tan–1  
2
 
Angle of asymptotes = ±
= tan–1(1)

=± = 45°

= ± 90° ∴ The angle of departure = 180º – (θ1 + θ3) + θ2

For q = 1, = 180º – (90° + 45°) + 90°
Angle of asymptotes = ±
= 180o – 135° + 90°

=± = 270° – 135°

= ± 270° = 135°

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Unit-3 Stability Analysis in Time Domain 3.33
Similarly, for another pole, the angle of departure is –135°.
The complete root locus plot is shown in graph.

Figure (3): Graph

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3.34 control systems [JNTU-Anantapur]

Q34. A negative feedback control system has the forward path transfer function: G(s) = .
Draw the root locus for 0 < K < .
Ans: Dec.-15, (R13), Q7

Given that,
K ( s + 1)
G (s) = ... (1)
s ( s – 1)( s 2 + 6 s + 25 )
Rule 1: To Locate Poles and Zeros
Let ‘n’ be the number of poles
‘m’ be the number of zeros
(i) Poles are obtained by equating denominator to zero.
s = 0, s – 1 = 0 and s2 + 6s + 25 = 0
s = 0, s = 1 and s2 + 6s + 25 = 0
Now consider, s2 + 6s + 25 = 0

– 6 ± 6 2 – 4 × 1× 25
s =
2 ×1

–6 ± j8
=
2
= – 3 + j 4
∴ Poles are,
s = 0, s = 1, s = – 3 + j 4 and s = – 3 – j 4
Number of poles, n = 4
(ii) Zeros are obtained by equating numerator to zero.
∴ s + 1 = 0
s = – 1
Number of zeros, m = 1
Rule 2: To Find Root Locus on Real Axis
A point on real axis is said to be on root locus if the sum of open loop poles and zeros to the right side of the point is an
odd number.
We know that,
Number of branches of root locus, n = 4
Number of branches terminated at zero, m = 1
Number of branches terminating at= n – m
=4–1
=3
Taking the poles and zeros which lie on real axis and draw the root locus as shown in figure (1).
We know that s = 0 and s = 1 are poles and s = –1 is a zero and they lie on real axis.

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Unit-3 Stability Analysis in Time Domain 3.35

Figure (1)
Rule 3: To Find Angle of Asymptotes
Generally in a transfer function (n > m) n – m branches terminate at , they do so along certain straight line known as
Asymptotes of root locus.
The angle of asymptotes is given by,

Angle of asymptotes =

Take q = 0, 1, 2, 3 ( There are 4 poles)

For q = 0, Angle of Asymptotes,

= = + 60o

For q = 1, Angle of Asymptotes,

= = + 180o

For q = 2, Angle of Asymptotes =

= = + 300o =  60o

For q = 3, Angle of Asymptotes = = + 420o

Rule 4: To Find Centroid
The centroid is given as,

Centroid =

0 + 1 – 3 + j 4 – 3 – j 4 – (–1)
=
4 –1
–4
= = – 1.33
3
∴ Centroid = – 1.33

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3.36 control systems [JNTU-Anantapur]
Rule 5: To Find the Break-away Point
We know that,
The characteristic equation of the system is,
1 + G (s) H (s) = 0
K ( s + 1)
1+ =0
s ( s – 1)( s 2 + 6 s + 25 )
s (s – 1) (s2 + 6s + 25) + K (s + 1) = 0
s (s3 + 6s2 + 25s – s2 – 6s – 25) + K (s + 1) = 0
s4 + 5s3 + 19s2 – 25s + K(s + 1) = 0
K (s + 1) = – (s4 + 5s3 + 19s2 – 25s)

K=
(
– s 4 + 5s 3 + 19 s 2 – 25 s

) ...(2)
s +1
Differentiating equation (2), we get,
 ( s + 1)  4 s 3 + 15s 2 + 38s – 25 –  s 4 + 5s 3 + 19 s 2 – 25s  (1) 
    
= – 

 ( s + 1) 2 

 4 s 4 + 15 s 3 + 38 s 2 – 25 s + 4 s 3 + 15 s 2 + 38 s – 25 – s 4 – 5s 3 – 19 s 2 + 25 s 
= –  
 (s + 1)2 

 3s 4 + 14 s 3 + 34 s 2 + 38 s – 25 
= –  
 (s + 1)2 

Equating the above equation to zero, i.e., = 0, we get,

 3s 4 + 14 s 3 + 34 s 2 + 38 s – 25 
–  =0
 (s + 1)2 

3s4 + 14s3 + 34s2 + 38s – 25 = 0

On solving the above equation, we get,

s = 0.44, –2.64, – 1.2343 + j 2.35, – 1.2343 – j 2.35

For s = 0.44, equation (2) becomes,

K=

= = 4.76

For s = –2.64, equation (2) becomes,

K=

= = 94.51

For s = –1.2343 + j 2.35, equation (2) becomes,

K=

= 57.55 + j 7.05 Positive and real

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Unit-3 Stability Analysis in Time Domain 3.37
Similarly,
∴ Angle of departure,
For s = –1.2343 – j 2.35, equation (2) becomes, θd = 180o – [(θ1 + θ2 + θ3) – θ4]
K = 57.55 – j 7.05 Positive and real = 180o – [135o + 126.86o + 90o – 116.56o]

From the above, it is clear that s = 0.44 and s = –2.64

= – 55.3o
yields positive and real value and moreover lies on real axis Rule 7: To Find the Crossing Point on Imaginary Axis
of root locus. s = –1.2343 + j 2.35 does not yield positive and
We know that, the characteistic equation is given as,
real value.
s4 + 5s3 + 19s2 – 25s + K (s + 1) = 0
∴ Break-away points are s = 0.44 and s = – 2.64
Put s = jω
Rule 6: To Find Angle of Departure ( jω)4 + 5 (jjω)3 + 19 ( jω)2 – 25 ( jω) + K ( jω + 1) = 0
The angle of departure is found out for complex poles ω4 – j 5ω2 – 19ω2 – j 25ω + jKω + K = 0
terminating at
ω4 – j 5ω3 – 19 ω2 + jω (K – 25) + K = 0
Angle of departure, φd = 180 – φ ω4 – 19ω2 + K + j (ω (K – 25) – 5ω3) = 0
To determine angle of departure consider figure (2). Now consider the imaginary part and equate it to zero.
ω (K – 25) – 5ω2 = 0
Consider angles θ1, θ2, θ3 and θ4
ω (K – 25) = 5 ω3

K – 25 = 5 ω2
K – 25
ω2 = ... (3)
5
Considering the real part and equating it to zero.
ω4 – 19ω2 + K = 0
K = 19ω2 – ω4
K = ω2 (19 – ω2) ... (4)
Substituting equation (3) in equation (4), we get,
 K – 25  K – 25 
K =  19 – 
 5  5 

 K – 25   120 – K 
K =   
 5  5 
Figure (2)
From figure (2), we have, K =

4 25 K = – K 2 + 145K – 3000

θ1 = 180o – tan–1  
4 K 2 – 145K + 3000 + 25K = 0
= 180o – 45o = 135o K 2 – 120K + 3000 = 0
On solving the above equation, we get,
θ2= 180o – tan–1  
4
3 K = 84.49, 35.505
Since there exist two values of ‘K’, the root locus
= 180o – 53.13o
intersects twice with the imaginary axis. Now substituting

= 126.86o K = 84.49 in equation (3), we get,

θ3= 90o ω2 =
4 ω2 = 11.898

θ4 = 180o – tan–1  
2
= 180o – 63.43o ω =
∴ ω = + 3.44

= 116.56o

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3.38 control systems [JNTU-Anantapur]
Similarly, substituting K = 35.505 in equation (3), we get,

ω2 =
ω2 = 2.101
ω = + 1.449
∴ The crossing points of imaginary axis are ω = + 1.449 and ω = + 3.44
The complete root locus plot is shown in graph.

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